I can use many solvers like ipopt in pyomo, however I have to use bonmin.
When I try to use bonmin I get this;
WARNING: Failed to create solver with name 'bonmin': Failed to set executable for solver asl. File with name=bonmin either does not exist or it is not executable. To skip this validation, call set_executable with validate=False.
Related
My setup is: ROS melodic, Ubuntu: 18.04
I want simulate turtlebot3 moving with my own global planner and have been following this tutorial to get started: http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS#Running_the_Plugin_on_the_Turtlebot. The tutorial seem to be made for ROS hydro, but as it was the best source of guidance I could find I hoped it would work.
The error I'm having is:
Failed to create the global_planner/GlobalPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: MultiLibraryClassLoader: Could not create object of class type global_planner::GlobalPlanner as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
To my knowledge I've followed the tutorial as much as possible with a only a few things done differently because I wanted to test it, couldn't do as the tutorial asked, or because I thought it wouldn't impact the results. What I have done differently is:
I use the carrot_planner.h and carrot_planner.cpp files in the tutorial section 1 to test that it works before trying with my own code to avoid confusion about where possible errors come from. It's not 'different' from the tutorial to my knowledge, but figured I'd mention it. They are placed in catkin_ws/src/carrot_planner/src/global_planner/
The ros package I'm working from is in catkin_ws/src and is called the carrot_planner. In the tutorial step 1.3 I use add_library(global_planner_lib src/global_planner/carrot_planner.cpp). Would not imagine it affects the results either.
In section 3 of the tutorial it mentions that 'First, you need to copy the package that contains your global planner (in our case global_planner) into the catkin workspace of your Turtlebot (e.g. catkin_ws).' Since my package was already in catkin_ws/src/ I haven't moved it since I guess I didn't need to.
I've altered the 'move_base.launch' file in '/opt/ros/melodic/share/turtlebot3_navigation/launch/' instead of the 'move_base.launch.xml' in '/opt/ros/hydro/share/turtlebot_navigation/launch/includes/' as there doesn't seem to be a destination '...turtlebot3_navigation/launch/includes/'. There are files in launch, but no includes folder. Maybe that a difference from Hydro to Melodic, I don't know. There may be a whole lot of things that need to be done differently from the tutorial when using Melodic, or with turtlebot3, but I don't know.
I haven't made my own launch file for bringup of the turtlebot, but have instead followed this tutorial (https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/) to guide me with turtlebot3. After finishing this step in the global planner tutorial 'Save and close the move_base.launch.xml. Note that the name of the planner is global_planner/GlobalPlanner the same specified in global_planner_plugin.xml. Now, you are ready to use your new planner' I tested whether it worked by running: 'roslaunch turtlebot3_gazebo turtlebot3_world.launch' and then I tried running: 'roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml' which led to the error I showed above. I have created the map-yaml, so there's no misunderstanding whether that's missing.
I would be very glad for any help, thank you ^^
Edit: My system only had 'navfn' on it, not 'global_planner' or 'carrot_planner', if that makes a difference.
After looking over the code I found a solution. It doesn't make everything work perfectly yet, but seems to solve the immediate problem.
The problem was that in my 'global_planner_plugin.xml' I just used the code provided in the tutorial:
<library path="lib/libglobal_planner_lib">
<class name="global_planner/GlobalPlanner" type="global_planner::GlobalPlanner" base_class_type="nav_core::BaseGlobalPlanner">
<description>This is a global planner plugin by iroboapp project.</description>
</class>
</library>
But in the carrot_planner.cpp file it says:
PLUGINLIB_EXPORT_CLASS(carrot_planner::CarrotPlanner, nav_core::BaseGlobalPlanner)
Changing type="global_planner::GlobalPlanner to type="carrot_planner::CarrotPlanner and then launching turtlebot3 doesn't give the same error anymore.
I want to get loopinfo in each function by iterating through functions in Module Pass. My code is as follows:
for (auto &F:M) {
if(!F.isDeclaration()){
LoopInfo &LI = getAnalysis<LoopInfoWrapperPass>(F).getLoopInfo();
}
}
However, there is an error, I think my variable Settings should conform to the first function definition, how should I resolve.
clang-12: /llvmtest/llvm/lib/IR/LegacyPassManager.cpp:1645: virtual
std::tuple<llvm::Pass*, bool>
{anonymous}::MPPassManager::getOnTheFlyPass(llvm::Pass*,
llvm::AnalysisID, llvm::Function&): Assertion `FPP && “Unable to find
on the fly pass”’ failed. PLEASE submit a bug report to
https://bugs.llvm.org/ and include the crash backtrace, preprocessed
source, and associated run script.
You can not do this with the legacy pass manager. In the legacy pass manager, every pass could only get info from same-scoped passes -- module from module, function from function, loop from loop, plus one exception allowing function passes to get data from module passes.
With the new pass manager, you'd create a LoopAnalysisManager and add the analysis pass you want and run it. See https://llvm.org/docs/NewPassManager.html#using-analyses .
Note that most of LLVM is presently written to support both pass managers at once. If you do this, you'll need to write your pass differently from most of LLVM's passes, you can't use the types with names like "WrapperPass" that exist to support both legacy and new pass managers.
Say I have a valid LLVM module:
std::unique_ptr<llvm::Module> module;
I want to run LLVM traditional optimization passes on it:
llvm::PassBuilder passBuilder;
llvm::ModulePassManager modulePassManager = passBuilder.buildPerModuleDefaultPipeline(llvm::PassBuilder::OptimizationLevel::O3);
llvm::ModuleAnalysisManager moduleAnalysisManager;
passBuilder.registerModuleAnalyses(moduleAnalysisManager);
modulePassManager.run(*module, moduleAnalysisManager);
Unfortunately, the call crashes and debugging shows that the moduleAnalysisManager has only the module passes, but
not the function ones that are wrapped with the proxy class.
How should I setup modulePassManager to handle all (module) passes of a specific level? I don't have individual functions, so I can't run the function passes just on them.
The proper LLVM way is to create all analysisManagers and then link all of them together. Let's start by creating them:
llvm::PassBuilder passBuilder;
llvm::LoopAnalysisManager loopAnalysisManager(true); // true is just to output debug info
llvm::FunctionAnalysisManager functionAnalysisManager(true);
llvm::CGSCCAnalysisManager cGSCCAnalysisManager(true);
llvm::ModuleAnalysisManager moduleAnalysisManager(true);
Then we register each manager individually, and then we cross register them. This means that the number of managers here is fixed by design and if LLVM (7 at this time) changes the number of managers, this will need to be adapted:
passBuilder.registerModuleAnalyses(moduleAnalysisManager);
passBuilder.registerCGSCCAnalyses(cGSCCAnalysisManager);
passBuilder.registerFunctionAnalyses(functionAnalysisManager);
passBuilder.registerLoopAnalyses(loopAnalysisManager);
// This is the important line:
passBuilder.crossRegisterProxies(
loopAnalysisManager, functionAnalysisManager, cGSCCAnalysisManager, moduleAnalysisManager);
Once the passBuilder is created, we can finally make the optimization passes for the module with a call to the moduleAnalysisManager.
llvm::ModulePassManager modulePassManager =
passBuilder.buildPerModuleDefaultPipeline(llvm::PassBuilder::OptimizationLevel::O3);
modulePassManager.run(*module, moduleAnalysisManager);
This will run module level passes as well as all inner passes that LLVM can run on pieces of the module (function level, loop level...).
I'm working on a relatively large SML codebase. It was originally written to compile with MLton, but I'm now working with it under SML/NJ. I need to use RedBlackMapFn, which is defined in smlnj-lib.cm. However, I get an error:
elaborate/elaborate-bomenv.fun:9.20-9.27 Error: unbound signature: ORD_KEY
elaborate/elaborate-bomenv.fun:14.21-14.40 Error: unbound functor: RedBlackMapFn
elaborate/elaborate-bomenv.fun:32.20-32.27 Error: unbound signature: ORD_KEY
elaborate/elaborate-bomenv.fun:37.21-37.40 Error: unbound functor: RedBlackMapFn
So I assume that smlnj-lib.cm is not being pulled by CM. In an effort to fix this, I added $/smlnj-lib.cm to the sources.cm file in the directory that I'm working in. This causes a separate issue:
elaborate/sources.cm:25.1-25.18 Error: structure Random imported from $SMLNJ-LIB/Util/smlnj-lib.cm#243997(random.sml) and also from ./(sources.cm):lib/(sources.cm):basic/(sources.cm):random.sml
elaborate/sources.cm:25.1-25.18 Error: structure Queue imported from $SMLNJ-LIB/Util/smlnj-lib.cm#436143(queue.sml) and also from ./(sources.cm):lib/(sources.cm):basic/(sources.cm):two-list-queue.sml
No dice. I tried removing the Random structure that's coming from ./(sources.cm):lib/(sources.cm):basic/(sources.cm):random.sml, but it appears that it isn't equivalent to the one defined in the standard library, so I can't just substitute one for the other.
I'd like to use something like Python's import ... from ... as ...
mechanism to give a new name to the Random that's coming from the standard library, but CM's documentation doesn't offer any hints as to how I'd go about that.
How can I resolve a module naming conflict across multiple SML files?
I ended up splitting off the problematic file in to a separate .cm. The problem file here is elaborate-bomenv.{sig, fun}. The .cm file for this directory is sources.cm, which caused errors when it looked like:
Group
...
is
$/basis.cm
...
elaborate-bomenv.fun
elaborate-bomenv.sig
...
So instead, I made an elaborate-bomenv-sources.cm that looks like:
Group
signature ELABORATE_BOMENV
functor BOMEnv
is
$/smlnj-lib.cm
...
elaborate-bomenv.sig
elaborate-bomenv.fun
and changed the original sources.cm to read:
Group
...
is
$/basis.cm
...
./elaborate-bomenv-sources.cm
...
Which is ugly, but it works.
I'm trying to create my RKEntityMapping outside of my UnitTest. The problem I have is it only works if I create it inside my test. For example, this works:
RKEntityMapping *accountListMapping = [RKEntityMapping mappingForEntityForName:#"CustomerListResponse" inManagedObjectStore:_sut.managedObjectStore];
[accountListMapping addAttributeMappingsFromDictionary:#{#"count": #"pageCount",
#"page": #"currentPage",
#"pages": #"pages"}];
While the following does now work. The all to accoutListMapping returns exactly what is shown above using the same managed object store:
RKEntityMapping *accountListMapping = [_sut accountListMapping];
When the RKEntityMapping is created in _sut I get this error:
<unknown>:0: error: -[SBAccountTests testAccountListFetch] : 0x9e9cd10: failed with error:
Error Domain=org.restkit.RestKit.ErrorDomain Code=1007 "Cannot perform a mapping operation
with a nil destination object." UserInfo=0x8c64490 {NSLocalizedDescription=Cannot perform
a mapping operation with a nil destination object.}
I'm assuming the nil destination object it is referring to is destinationObject:nil.
RKMappingTest *maptest = [RKMappingTest testForMapping:accountListMapping
sourceObject:_parsedJSON
destinationObject:nil];
Make sure that the file you have created has a target membership of both your main target, and your test target. You can find this by:
clicking on the .m file of your class
open the utilities toolbar (the one on the right)
in the target membership section tick both targets.
This is because if your class does not have target membership to your test target, the test target actually creates a copy of the class that you have created, meaning it has a different binary file to the main target. This leads to that class using the test's version of the RestKit binary, rather than the main projects RestKit. This will lead to the isKindOfClass method failing when it tries to see if the mapping you have passed is of type RKObjectMapping from the main project, because it is of type RKObjectMapping from the test projects version of RestKit, so your mapping doesn't get used, and you get your crash.
At least this is my understanding of how the LLVM compiler works. I'm new to iOS dev so please feel free to correct if I got something wrong.
This problem may also be caused by duplicated class definitions, when including RestKit components for multiple targets individually when using Cocoapods.
For more information on this have a look at this answer.
I used a category on the Mapped object for example
RestKitMappings+SomeClass
+ (RKObjectMapping*)responsemappings {
return mappings;
}
now this category has to be included in the test target as well otherwise the mapping will not be passed.
When you're running a test you aren't using the entire mapping infrastructure, so RestKit isn't going to create a destination object for you. It's only going to test the mapping itself. So you need to provide all three pieces of information to the test method or it can't work.